Indoor robot trajectory tracking system and method based on nine-axis inertial sensor

An inertial sensor, trajectory tracking technology, applied in instruments, electric controllers, controllers with specific characteristics, etc., can solve the problems of limited application, inability to obtain information, and expensive equipment, and achieve the effect of eliminating noise interference

Active Publication Date: 2018-01-09
常熟市长江不锈钢材料有限公司
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Problems solved by technology

Although these methods have improved the accuracy of positioning, they all need to provide information about the external environment. In many cases, this information cannot be obtained due to insufficient equipment, and the price of these equipment is relatively expensive, which greatly limits these methods. Application of method

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  • Indoor robot trajectory tracking system and method based on nine-axis inertial sensor
  • Indoor robot trajectory tracking system and method based on nine-axis inertial sensor
  • Indoor robot trajectory tracking system and method based on nine-axis inertial sensor

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Embodiment Construction

[0083] The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings.

[0084] refer to figure 1 , is a schematic structural diagram of a robot indoor trajectory tracking system based on a nine-axis inertial sensor of the present invention. The robot indoor trajectory tracking system based on the nine-axis inertial sensor includes a movable robot, a sensor module, a sensor control module and a host computer. The sensor module adopts a nine-axis inertial sensor integrating a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, or a six-axis inertial sensor integrating a three-axis accelerometer, a three-axis gyroscope and a separate three-axis magnetometer. To form a nine-axis inertial sensor, or use a separately packaged three-axis accelerometer, three-axis gyroscope and three-axis magnetometer, the sensor module transmits data with the sensor control module through RS232 serial commun...

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Abstract

The invention discloses an indoor robot trajectory tracking system based on a nine-axis inertial sensor. The system comprises a mobile robot, wherein a sensor module, a sensor control module and an upper computer which are connected sequentially are arranged on the robot; when the robot moves, the sensor module can produce a triaxial acceleration value, a triaxial angular velocity value and a triaxial intensity value in real time, the sensor control module is used for performing operation control of the sensor module and data transceiving work, and the upper computer is used for processing obtained data and tracking the moving trajectory of the robot. The indoor robot trajectory tracking system is independent of GPS signals, is less affected by environment factors, can be used for trackingand positioning of the indoor moving trajectory of the robot in the environment without GPS signals and has higher accuracy and practical value. The invention further discloses an indoor robot trajectory tracking method based on the nine-axis inertial sensor.

Description

technical field [0001] The invention relates to a robot indoor trajectory tracking system and a tracking method based on a nine-axis inertial sensor. Background technique [0002] In a normal outdoor environment, the GPS sensor integrated on the mobile robot can locate the location of the device, but in an indoor environment with weak signal or no GPS signal, its positioning effect is not ideal or invalid. Using the Inertial Measurement Unit (IMU) combined with a three-axis accelerometer and a three-axis gyroscope for indoor positioning can track the robot trajectory, but it is affected by drift and noise, and its trajectory error increases with time. The divergence is serious, resulting in a serious deviation between the reconstructed trajectory and the actual robot movement trajectory and low accuracy. [0003] In order to reduce the error of the IMU, the currently commonly used methods include using lidar equipment to assist the IMU in indoor positioning and navigation, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18G01C21/16G01C21/08G01C21/20G01C21/00G05B11/42
Inventor 马国军何康顾琪伟杜中杰郑威
Owner 常熟市长江不锈钢材料有限公司
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